diff --git a/design/dem-loading-class-diagram.puml b/design/dem-loading-class-diagram.puml
index dbda0ca2981971c702757595838be5d1f54e6105..399f6cacb9ef945ed7f12aabbc7f419e031377a7 100644
--- a/design/dem-loading-class-diagram.puml
+++ b/design/dem-loading-class-diagram.puml
@@ -27,7 +27,7 @@
package org.orekit.rugged #ECEBD8 {
- package api #DDEBD8 {
+ package raster #DDEBD8 {
interface UpdatableTile {
+setGeometry(φ₀, λ₀, δφ, δλ, rows, columns)
+setElevation(i, j, h)
@@ -36,9 +36,7 @@
+updateTile(φ, λ, UpdatableTile)
}
TileUpdater --> UpdatableTile : updates
- }
- package raster #DDEBD8 {
interface "TileFactory<T extends Tile>" as TileFactory_T_ {
+T createTile()
}
diff --git a/design/direct-localization-sequence-diagram.puml b/design/direct-localization-sequence-diagram.puml
index f4eb1ba3bd2c83ccebafd943cfaf163571457315..fd9b6f9597b37654079c044895aa1680a28545b5 100644
--- a/design/direct-localization-sequence-diagram.puml
+++ b/design/direct-localization-sequence-diagram.puml
@@ -21,6 +21,7 @@
skinparam NoteBorderColor #691616
skinparam NoteFontColor #691616
skinparam SequenceActorBorderColor #6A584B
+ skinparam SequenceActorBackgroundColor #F3EFEB/CCC9C5
skinparam SequenceParticipantBackgroundColor #F3EFEB/CCC9C5
skinparam SequenceParticipantBorderColor #6A584B
skinparam SequenceLifeLineBackgroundColor #CCC9C5/F3EFEB
@@ -31,7 +32,7 @@
hide footbox
- participant "UserMain" as A
+ actor "UserMain" as A
participant "Rugged" as R
participant "LineSensor" as LS
participant "SpacecraftToObservedBody" as S
diff --git a/design/duvenhage-inner-recursion-activity-diagram.puml b/design/duvenhage-inner-recursion-activity-diagram.puml
new file mode 100644
index 0000000000000000000000000000000000000000..107631c2697fd2d3a83e4c0d38ce31ea426adbb8
--- /dev/null
+++ b/design/duvenhage-inner-recursion-activity-diagram.puml
@@ -0,0 +1,69 @@
+' Copyright 2013-2014 CS Systèmes d'Information
+' Licensed to CS Systèmes d'Information (CS) under one or more
+' contributor license agreements. See the NOTICE file distributed with
+' this work for additional information regarding copyright ownership.
+' CS licenses this file to You under the Apache License, Version 2.0
+' (the "License"); you may not use this file except in compliance with
+' the License. You may obtain a copy of the License at
+'
+' http://www.apache.org/licenses/LICENSE-2.0
+'
+' Unless required by applicable law or agreed to in writing, software
+' distributed under the License is distributed on an "AS IS" BASIS,
+' WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+' See the License for the specific language governing permissions and
+' limitations under the License.
+
+@startuml
+
+ skinparam svek true
+ skinparam NoteBackgroundColor #F3EFEB
+ skinparam NoteBorderColor #691616
+ skinparam NoteFontColor #691616
+ skinparam ActivityStartColor #6A584B
+ skinparam ActivityEndColor #6A584B
+ skinparam ActivityBarColor #6A584B
+ skinparam ActivityBorderColor #691616
+ skinparam ActivityBackgroundColor #F3EFEB/CCC9C5
+ skinparam ActivityArrowColor #691616
+ skinparam ActivityFontSize 11
+
+ start
+ if (recursion depth > 30) then (yes)
+ : search failed;
+ stop
+ endif
+ if (start and end point on same pixel) then (yes)
+ : return pixel intersection;
+ stop
+ endif
+ : compute kd-tree deepest level\ncontaining both start and end points;
+ if (compare segment and sub-tile maximum elevation) then (fully above)
+ : return null;
+ note right
+ when the line-of-sight segment is fully above
+ Digital Elevation Model, we can safely reject
+ it and proceed to next segment
+ end note
+ stop
+ endif
+ :previous ↠start;
+ : crossings ↠line-of-sight segment crossings of next level sub-tiles;
+ note right
+ crossings can be computed either
+ using flat body hypothesis
+ or taking curvature into account
+ end note
+ repeat
+ :intersection ↠recurse(previous, crossing);
+ if (found intersection?) then (yes)
+ : return intersection;
+ stop
+ endif
+ :previous ↠crossing;
+ repeat while (more crossings?)
+ :intersection ↠recurse(previous, end);
+ : return intersection;
+ stop
+
+@enduml
diff --git a/design/duvenhage-top-loop-activity-diagram.puml b/design/duvenhage-top-loop-activity-diagram.puml
new file mode 100644
index 0000000000000000000000000000000000000000..44b856d4ed2076642ff43d6bba071c5a0a14a856
--- /dev/null
+++ b/design/duvenhage-top-loop-activity-diagram.puml
@@ -0,0 +1,72 @@
+' Copyright 2013-2014 CS Systèmes d'Information
+' Licensed to CS Systèmes d'Information (CS) under one or more
+' contributor license agreements. See the NOTICE file distributed with
+' this work for additional information regarding copyright ownership.
+' CS licenses this file to You under the Apache License, Version 2.0
+' (the "License"); you may not use this file except in compliance with
+' the License. You may obtain a copy of the License at
+'
+' http://www.apache.org/licenses/LICENSE-2.0
+'
+' Unless required by applicable law or agreed to in writing, software
+' distributed under the License is distributed on an "AS IS" BASIS,
+' WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+' See the License for the specific language governing permissions and
+' limitations under the License.
+
+@startuml
+
+ skinparam svek true
+ skinparam NoteBackgroundColor #F3EFEB
+ skinparam NoteBorderColor #691616
+ skinparam NoteFontColor #691616
+ skinparam ActivityStartColor #6A584B
+ skinparam ActivityEndColor #6A584B
+ skinparam ActivityBarColor #6A584B
+ skinparam ActivityBorderColor #691616
+ skinparam ActivityBackgroundColor #F3EFEB/CCC9C5
+ skinparam ActivityArrowColor #691616
+ skinparam ActivityFontSize 11
+
+ start
+ : gp₀ ↠point at altitude 0;
+ : select tile containing gpâ‚€;
+ : current point ↠null;
+ : hmax ↠tile maximum elevation;
+ while (current point is null)
+ : entry ↠point at altitude hmax;
+ if (locate entry point) then (in selected tile)
+ else (outside of selected tile)
+ : select tile containing entry point;
+ : hmax ↠max(hmax, tile maximum elevation);
+ : current point ↠null;
+ endif
+ endwhile
+ repeat
+ : exit ↠line-of-sight exit point from tile;
+ : intersection ↠Duvenhage(current, exit);
+ if (found intersection?) then (yes)
+ : return intersection;
+ stop
+ endif
+ if (tile exited at side?) then (no)
+ : searching ↠false;
+ else (yes)
+ : forward point ↠point slightly after exit point;
+ : select tile containing forward point;
+ if (DEM traversed between\ncurrent and forward points) then (yes)
+ : return current point;
+ note right
+ extremely rare case!
+ end note
+ stop
+ endif
+ : current point ↠forward point;
+ endif
+ repeat while (searching ?)
+ :search failed;
+ note left
+ this should never happen
+ end note
+
+@enduml
diff --git a/design/geometry-at-date-sequence-diagram.puml b/design/geometry-at-date-sequence-diagram.puml
deleted file mode 100644
index 38477f694097bfc34cb31a7a816ae931a15511f9..0000000000000000000000000000000000000000
--- a/design/geometry-at-date-sequence-diagram.puml
+++ /dev/null
@@ -1,53 +0,0 @@
-' Copyright 2013-2014 CS Systèmes d'Information
-' Licensed to CS Systèmes d'Information (CS) under one or more
-' contributor license agreements. See the NOTICE file distributed with
-' this work for additional information regarding copyright ownership.
-' CS licenses this file to You under the Apache License, Version 2.0
-' (the "License"); you may not use this file except in compliance with
-' the License. You may obtain a copy of the License at
-'
-' http://www.apache.org/licenses/LICENSE-2.0
-'
-' Unless required by applicable law or agreed to in writing, software
-' distributed under the License is distributed on an "AS IS" BASIS,
-' WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-' See the License for the specific language governing permissions and
-' limitations under the License.
-
-@startuml
-
- skinparam svek true
- skinparam NoteBackgroundColor #F3EFEB
- skinparam NoteBorderColor #691616
- skinparam NoteFontColor #691616
- skinparam SequenceActorBorderColor #6A584B
- skinparam SequenceParticipantBackgroundColor #F3EFEB/CCC9C5
- skinparam SequenceParticipantBorderColor #6A584B
- skinparam SequenceLifeLineBackgroundColor #CCC9C5/F3EFEB
- skinparam SequenceLifeLineBorderColor #6A584B
- skinparam SequenceArrowColor #6A584B
- skinparam SequenceBorderColor #6A584B
- skinparam SequenceFontSize 11
-
- hide footbox
-
- participant "Caller" as C
- participant "Rugged" as R
- participant "Orekit" as O
-
- activate C
- C -> R : compute geometry at date
- activate R
- R -> O : interpolate(date)
- activate O
- O --> R : orbite/attitude
- deactivate O
- R -> O : getTransform(date)
- activate O
- O --> R : Earth to inertial transform
- deactivate O
- R --> C : spacecraft to inertial, inertial to Earth
- deactivate R
- deactivate C
-
-@enduml
diff --git a/design/configuration-class-diagram.puml b/design/initialization-class-diagram.puml
similarity index 85%
rename from design/configuration-class-diagram.puml
rename to design/initialization-class-diagram.puml
index 7e8791eb6d0787b9940218c55571a7480afb4894..8c81c1a0511b3a983b5b0ac67e280554e08e3617 100644
--- a/design/configuration-class-diagram.puml
+++ b/design/initialization-class-diagram.puml
@@ -27,11 +27,23 @@
package orekit #ECEBD8 {
class OneAxisEllipsoid
- class Frame
class PVCoordinatesProvider
+ class Frame
class AttitudeProvider
}
+ package mission.specific #C4D2C5 {
+ class UserMain #D5E0D5/E2EBE2
+ note top #E2EBE2
+ user configures Rugged either by
+ selecting from a few predefined
+ choices or by directly building
+ Orekit objects
+ end note
+ class MissionSpecificDEM #D5E0D5/E2EBE2
+ MissionSpecificDEM <-left- UserMain : creates
+ }
+
package rugged #ECEBD8 {
package utils #DDEBD8 {
@@ -46,7 +58,16 @@
}
+ package raster #DDEBD8 {
+ interface TileUpdater
+ }
+
package api #DDEBD8 {
+ class Rugged {
+ +setLightTimeCorrection(boolean)
+ +setAberrationOfLightCorrection(boolean)
+ +addLineSensor(lineSensor)
+ }
enum AlgorithmId {
+DUVENHAGE
+DUVENHAGE_FLAT_BODY
@@ -71,33 +92,21 @@
+TOD
+VEIS1950
}
- class Rugged {
- +setLightTimeCorrection(boolean)
- +setAberrationOfLightCorrection(boolean)
- +addLineSensor(lineSensor)
- }
class LineSensor
ExtendedEllipsoid "1" <--o Rugged
SpacecraftToObservedBody "1" <--o Rugged
Rugged o--> "*" LineSensor
- }
+ Rugged --> AlgorithmId
+ Rugged --> EllipsoidId
+ Rugged --> BodyRotatingFrameId
+ Rugged --> InertialFrameId
- }
+ UserMain --> LineSensor : creates
+ MissionSpecificDEM --|> TileUpdater
+ UserMain --> Rugged : configures
+
+ }
- package mission.specific #C4D2C5 {
- class UserMain #D5E0D5/E2EBE2
- AlgorithmId <-- UserMain : selects
- EllipsoidId <-- UserMain : selects
- BodyRotatingFrameId <-- UserMain : selects
- InertialFrameId <-- UserMain : selects
- LineSensor <-- UserMain : creates
- Rugged <-- UserMain : configures
- note as N1 #E2EBE2
- user configures Rugged either by
- selecting from a few predefined
- choices or by directly building
- Orekit objects
- end note
}
@enduml
diff --git a/design/initialization-sequence-diagram.puml b/design/initialization-sequence-diagram.puml
index 09e785b235df37a0b5a8f02b3129cb67bad77573..354818edc38f3ec2e20c3b05b78e0bc87970595a 100644
--- a/design/initialization-sequence-diagram.puml
+++ b/design/initialization-sequence-diagram.puml
@@ -21,6 +21,7 @@
skinparam NoteBorderColor #691616
skinparam NoteFontColor #691616
skinparam SequenceActorBorderColor #6A584B
+ skinparam SequenceActorBackgroundColor #F3EFEB/CCC9C5
skinparam SequenceParticipantBackgroundColor #F3EFEB/CCC9C5
skinparam SequenceParticipantBorderColor #6A584B
skinparam SequenceLifeLineBackgroundColor #CCC9C5/F3EFEB
@@ -31,41 +32,53 @@
hide footbox
- participant "Application" as A
- participant "Interface" as I
+ actor "UserMain" as A
+ participant "MissionSpecificDEM" as B
participant "Rugged" as R
+ participant "ExtendedEllipsoid" as E
+ participant "SpacecraftToObservedBody" as S
+ participant "LineSensor" as LS
participant "Orekit" as O
activate A
- A -> I : init
- activate I
- I -> I : loadModels
- I -> I : unfoldOpticalPath
- activate I
- deactivate I
- I -> R : setGeneralContext(algorithm, frames, ellipsoid, ephemeris)
- activate R
- R -> O : createInterpolator(ephemeris)
- activate O
- O --> R : interpolating propagator
- deactivate O
- R -> R : createTransformProvider(interpolator)
- activate R
- deactivate R
- deactivate R
- I -> R : setLineSensor(sensorName, pixels, datationModel)
- activate R
- deactivate R
- I -> R : setLineSensor(sensorName, pixels, datationModel)
- activate R
- deactivate R
- I -> R : setLineSensor(sensorName, pixels, datationModel)
- activate R
- deactivate R
- I -> R : setUpTilesManagement(tileUpdater, maxCachedTiles)
- activate R
- deactivate R
- deactivate I
+ A -> A : loadModels
+ A -> B : create
+ activate B
+ deactivate B
+ A -> A : unfoldOpticalPath
+ activate A
+ deactivate A
+ A -> R : create(DEM, algorithm, frames, ellipsoid, ephemeris)
+ activate R
+ R -> E : create
+ activate E
+ deactivate E
+ R -> O : createProviders(ephemeris)
+ activate O
+ O --> R : position/velocity/atttitude providers
+ deactivate O
+ R -> S : create
+ activate S
+ deactivate S
+ deactivate R
+ A -> LS : create
+ activate LS
+ deactivate LS
+ A -> R : addLineSensor
+ activate R
+ deactivate R
+ A -> LS : create
+ activate LS
+ deactivate LS
+ A -> R : addLineSensor
+ activate R
+ deactivate R
+ A -> LS : create
+ activate LS
+ deactivate LS
+ A -> R : addLineSensor
+ activate R
+ deactivate R
deactivate A
@enduml
diff --git a/design/inverse-localization-sequence-diagram.puml b/design/inverse-localization-sequence-diagram.puml
index c068f9961beb28e72b99649a982b31708d71d905..bb279864b06484772ac41eceac20685afefaa6ee 100644
--- a/design/inverse-localization-sequence-diagram.puml
+++ b/design/inverse-localization-sequence-diagram.puml
@@ -21,6 +21,7 @@
skinparam NoteBorderColor #691616
skinparam NoteFontColor #691616
skinparam SequenceActorBorderColor #6A584B
+ skinparam SequenceActorBackgroundColor #F3EFEB/CCC9C5
skinparam SequenceParticipantBackgroundColor #F3EFEB/CCC9C5
skinparam SequenceParticipantBorderColor #6A584B
skinparam SequenceLifeLineBackgroundColor #CCC9C5/F3EFEB
@@ -31,57 +32,66 @@
hide footbox
- participant "Application" as A
- participant "Interface" as I
+ actor "UserMain" as A
participant "Rugged" as R
- participant "Orekit" as O
+ participant "SensorMeanPlaneCrossing" as P
+ participant "SensorPixelCrossing" as X
+ participant "SpacecraftToObservedBody" as S
+ participant "ExtendedEllipsoid" as E
+ participant "Transform" as T
participant "Math" as M
activate A
- A -> I : inverseLocalization(φ, λ)
- activate I
- I -> R : inverseLocalization(φ, λ)
- activate R
- R -> R : elevation(φ, λ)
- activate R
- R -> I : DEM callback
- I --> R : DEM raw data cell
- R --> R : h(φ, λ)
- deactivate R
- R -> O : convert(ellipsoid, φ, λ, h)
- activate O
- O --> R : P(φ, λ, h) in Earth frame
- deactivate O
- R -> R : createSwathOffset(P, interpolator)
- activate R
- R --> R : function f(t)
- deactivate R
- R -> M : solve f(tâ‚€) = 0
- activate M
- M --> R : evaluate f(t)
- activate R
- R -> R : apply combined transform provider at date
- R --> M : f(t)
- deactivate R
- M --> R : evaluate f(t)
- activate R
- R -> R : apply combined transform provider at date
- R --> M : f(t)
- deactivate R
- M --> R : evaluate f(t)
- activate R
- R -> R : apply combined transform provider at date
- R --> M : f(t)
- deactivate R
- M --> R : tâ‚€
- deactivate M
- R -> R : apply combined transform provider at date
- R -> R : apply inverse time stamping model
- R -> R : locate pixel in line for solved geometry
- R --> I : pixel coordinates
- deactivate R
- I --> A : pixel coordinates
- deactivate I
+ A -> R : inverseLocalization
+ activate R
+ R -> P : getMeanPlaneFinder
+ activate P
+ P -> S : getTransform(each line)
+ note left
+ transforms are computed
+ only once and reused
+ across successive inverse
+ localization calls
+ end note
+ activate S
+ S -> T : create
+ activate T
+ deactivate T
+ deactivate S
+ deactivate P
+ R -> E : transform(φ, λ, h)
+ activate E
+ E --> R : x, y, z
+ deactivate E
+ R -> P : findCrossing(ground target)
+ activate P
+ P -> T : interpolate
+ activate T
+ deactivate T
+ note left
+ algorithm converges
+ in 2 or 3 iterations
+ end note
+ P -> T : interpolate
+ activate T
+ deactivate T
+ P --> R : target direction at mean plane crossing\n(with time derivative)
+ deactivate P
+ R -> X : create(target direction at crossing time)
+ activate X
+ deactivate X
+ R -> X : locatePixel
+ activate X
+ X -> M : solve f(x) = 0
+ activate M
+ M --> X : xâ‚€
+ deactivate M
+ X --> R : coarse pixel crossing
+ deactivate X
+ R -> R : fix line, considering closest pixel position
+ R -> R : fix pixel
+ R --> A : accurate line/pixel
+ deactivate R
deactivate A
@enduml